Inverse position problem in highly redundant multibody systems in environments with obstacles

Mechanism and Machine Theory

Volumn 38, Issue 11, 2003, Pages 1215-1235

  Agirrebeitia, J ^a   Aviles R ^a   De Bustos, I F ^a   Ajuria, G ^a  

^a UNIVERSITY OF THE BASQUE COUNTRY UPV EHU   (Spain)

Author keywords

Adaptive structures; Inverse position problem; Multibody; Obstacle avoidance; Variable geometry truss

Indexed keywords

ACTUATORS; ALGORITHMS; COLLISION AVOIDANCE; FINITE ELEMENT METHOD; INVERSE PROBLEMS; ITERATIVE METHODS; LAGRANGE MULTIPLIERS;

MULTIBODY SYSTEMS;

POSITION CONTROL;

EID: 0041621685     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0094-114X(03)00068-5     Document Type: Article

References (23)

1. Aviles R., Ajuria G., Hormaza V., Hernandez A. A procedure based on finite elements for the solution of nonlinear problems in the kinematic analysis of mechanisms. Finite Elem. Anal. Des. 22:1996;305-327.
2. Aviles R., Ajuria G., Bilbao A., Vallejo J. Lagrange multiplyers and the primal-dual method in the non-linear static equilibrium of multibody systems. Commun. Numer. Meth. Engng. 14:1998;463-472.
3. Ajuria G., Aviles R., Bilbao A., Navalpotro S. Metodos para la Resolucion del Problema no lineal de Equilibrio Estatico en Sistemas Multicuerpo. R. Int. Met. Numer. Calc. Dis. Ing. 14(2):1998;203-223.
4. Aviles R., Ajuria G., Amezua E., Gomez-Garay V. A finite element approach to the position problems in open-loop variable geometry trusses. Finite Elem. Anal. Des. 34:2000;233-255.
5. Aviles R., Ajuria G., Gomez-Garay V., Navalpotro S. Comparison among nonlinear optimization methods for the static equilibrium analysis of multibody systems with rigid and elastic elements. Mech. Mach. Theory. 35:2000;1151-1168.
6. Khatib O. Real time obstacle avoidance for manipulators and mobile robots. Int. J. Robot. Res. 5(1):1986;90-98.
7. R. Volpe, P. Khosla, Artificial potentials with elliptical isopotential contours for obstacle avoidance, in: Proceedings of the 26th Conference on Decision and Control, Los Angeles CA, December 9-11, 1987, pp. 180-185.
8. P. Khosla, R. Volpe, Superquadric artificial potentials for obstacle avoidance and approach, in: Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Philadelphia, PA, 1988, pp. 1778-1784.
9. G.S. Chirikjian, J.W. Burdick, Kinematics of hyper-redundant manipulators, in: Proceedings of the ASME Mechanisms Conference, Chicago, 11 September, 1990, pp. 16-19.
10. Chirikjian G.S., Burdick J.W. A geometric approach to hyper-redundant manipulator obstacle avoidance. J. Mech. Des. 114:1992;580-585.
11. Nearchou A.C. Solving the inverse kinematics problem of redundant robots operating in complex environments via modified genetic algorithm. Mech. Mach. Theory. 33:1998;273-292.
12. Muthuswamy S., Manoochehri S. Optimal path planning for robots manipulators. J. Mech. Des. 114:1992;586-595.
13. Mitsi S., Bouzakis K.D. Simulation of redundant manipulators for collision avoidance in manufacturing and assembly environments. Mech. Mach. Theory. 28(1):1993;13-21.
14. Mitsi S., Bouzakis K.D., Mansour G. Optimization of robot links motion in inverse kinematics solution considering collision avoidance and joint limits. Mech. Mach. Theory. 30(5):1995;653-663.
15. Shiller Z., Gwo Y.R. collision-free path planning of articulated manipulators. J. Mech. Des. 115:1993;901-908.
16. J. Baillieul, Avoiding obstacles and resolving kinematic redundacy, in: Proceedings of the 1986 IEEE International Conference on Robotics and Automation, San Francisco, CA, 1986, pp. 1698-1704.
17. Van der Plaats G.N. Numerical optimization techniques for engineering design: with applications. 1986;McGraw Hill, New York.
18. Nakamura Y. Advanced Robotics. Redundancy and Optimization. 1991;Addison Wesley, New York.
19. Wihtney D.E. The mathematics of coordinated control of prosthleses and manipulators. J. Dyn. Sys. Contr. 94(4):1972;303-309.
20. Ligeois A. Automatic supervisory control of the configuration and behavior of multibody mechanisms. IEEE Trans. Sys. Man. Cyber. SMC-7(12):1977;868-871.
21. H. Hanafusa, T. Yoshikawa, Y. Nakamura, Analysis and control of articulated robot arms with redundancy, in: H. Ashaki (Ed.), Proceedings of the 8th Triennial World Congress of IFAC, vol. 4, 1981, pp. 1927-1932.
22. C.A. Klein, Use of Redundancy in the Design of Robotic Systems, Robotics Research, vol. 2, MIT Press, Cambrigde, MA, 1985, pp. 207-214.
23. J. Agirrebeitia, Planificación del movimiento de sistemas multicuerpo altamente redundantes en entornos con obstáculos, Ph.D. Thesis. University of the Basque Country, Spain, 2003.